#include <bits/stdc++.h>
using namespace std;

#define rep(i,f,t) for (int i = f; i < t; i++)
#define all(x) (x).begin(), (x).end()
#define sz(x) (int)(x).size()
#define trav(a,x) for (auto& a : x)
typedef pair<int, int> pii;
typedef vector<int> vi;
typedef long long ll;

const double inf = 1.0/0;

int main() {
	cin.tie(0)->sync_with_stdio(0);
	int N, T;
	cin >> N >> T;
	int xh, yh, xe, ye;
	cin >> xh >> yh >> xe >> ye;
	vi X(N), Y(N);
	rep(i,0,N) cin >> X[i] >> Y[i];
	set<int> xs, ys;
	xs.insert(all(X));
	ys.insert(all(Y));
	xs.insert(xh);
	xs.insert(xe);
	ys.insert(xh);
	ys.insert(xe);

#define PLUS(k) (k)
#define SOURCE (PLUS(N) + 0)
#define SINK (PLUS(N) + 1)
#define PNT(k) ((SINK) + 1 + (k))

	vector<vector<pair<int, double>>> G(2 + N);
	
	vector<int> xc, yc;
	xc.push_back(xh);
	yc.push_back(yh);
	xc.push_back(xe);
	yc.push_back(ye);
	rep(i,0,N) {
		trav(x, xs) {
			G[PLUS(i)].emplace_back(G.size(), 0);
			G.push_back({});
			G.back().emplace_back(PLUS(i), T);
			xc.push_back(x);
			yc.push_back(Y[i]);
		}
		trav(y, ys) {
			G[PLUS(i)].emplace_back(G.size(), 0);
			G.push_back({});
			G.back().emplace_back(PLUS(i), T);
			xc.push_back(X[i]);
			yc.push_back(y);
		}
	}

	rep(i,SOURCE,(int)G.size()) {
		rep(j,SOURCE,i) {
			int dx = xc[i - SOURCE] - xc[j - SOURCE];
			int dy = yc[i - SOURCE] - yc[j - SOURCE];
			double dist = sqrt(dx * dx + dy * dy);
			G[i].emplace_back(j, dist);
			G[j].emplace_back(i, dist);
		}
	}

	vector<double> best(sz(G), inf);
	vector<int> last(sz(G), -1);
	set<pair<double, int>> Q;
	best[SOURCE] = 0;
	Q.emplace(0, SOURCE);
	while (!Q.empty()) {
		auto [dist, at] = *Q.begin(); Q.erase(Q.begin());
		for (auto [to, cost] : G[at]) {
			double ndist = dist + cost;
			if (ndist < best[to])  {
				if (best[to] != inf) {
					Q.erase(Q.find(make_pair(best[to], to)));
				}
				best[to] = ndist;
				last[to] = at;
				Q.emplace(best[to], to);
			}
		}
	}
	cout << setprecision(10) << fixed << best[SINK] << endl;
	int at = SINK;
	vector<int> pts;
	while (at != -1) {
		pts.push_back(at);
		at = last[at];
	}

	reverse(all(pts));
	rep(i,1,sz(pts)) {
		int p = pts[i];
		if (p >= SOURCE) {
			if (xh == xc[p - SOURCE] && yh == yc[p - SOURCE]) continue;
			if (pts[i - 1] < SOURCE) cout << pts[i-1] + 1 << " ";
			else cout << 0 << " ";
			cout << xc[p - SOURCE] << " " << yc[p - SOURCE] << endl;
			xh = xc[p - SOURCE];
			yh = yc[p - SOURCE];
		}
	}
}